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Apple has taken the wraps off the iPhone 6S, its latest smartphone featuring an improved camera, a faster A9 processor and a '3D Touch' display able to distinguish between different types of press on the screen.

While they may look familiar, we have changed everything. [They are\c the most advanced iPhones ever, in fact they are the most advanced smartphones in the world.Tim Cook, Apple CEO

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The phone was unveiled alongside a range of new products at the Bill Graham Civic Auditorium in San Francisco, California.

Apple also said that iOS 9, the software update for its existing phones and iPads, will arrive on September 16.

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Early announcements during the event included a new 12.9-inch iPad Pro, with a 'Pencil' stylus and tear-off keyboard designed to compete with and respond to the Microsoft Surface Pro. The new Apple TV device also appeared, showing off a new tvOS interface, a TV App Store and Siri integration via a new touchpad remote control. Apple also announced new Watch designs for straps and cases.

Follow all the news as it is announced here on WIRED, and follow Product Editor Jeremy White on Twitter for hands-on impressions, and the atmosphere in the room

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3D Touch adds pressure sensitivity to the swiping, pointing and touching that have defined how the iPhone works since its launch in 2007. To help achieve this, Apple said it designed a new Taptic feedback motor to help it give more detailed, faster and subtle cues to users about how they were interacting with the new 'layer' of interaction. The two new gestures 'Peek' and 'Pop' allow you to open contextual information immediately from other apps, and then 'Pop' them into the main view with a heavy press.

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Those gestures also work from the homescreen, allowing users to go direct to different functions like taking a selfie in the camera, or searching for directions in Maps, without opening the whole app first. "While they may look familiar, we have changed everything," said Apple CEO Tim Cook. "[They are] the most advanced iPhones ever, in fact they are the most advanced smartphones in the world."

Apple said that new iPhones were the most durable it has ever made, with a new form of '7000 series' aluminium and a new type of glass covering the screen.

The phones also feature:

An A9 processor, 90% faster for GPU tasks and 70% faster for CPU tasks than the A8

'Hey Siri' now calls up the voice assistant whether your phone is charging or not

TouchID 'second generation' which is twice as fast at recognising fingerprints

5-megapixels selfie camera with a flash that works using the Retina display, specially tuned to flash three times as bright as normal

'Live' photos which capture a second and a half of motion as well as the full-resolution still image

LTE Advanced capable of up-to 300 megabits-per-second, and up to twice as fast WiFi

The new phones will cost the same as the previous version on two-year contracts, while the 5S becomes the free-tier device and the iPhone 6 and 6 Plus start roughly $100 (or £64-ish) less up-front.

The new iPhone 6S will be available starting September 25, with pre-orders beginning in the UK on September 12. Apple said it will also begin a new program -- first in the US, but coming to the UK later -- which will let customers buy a new iPhone every year, on contract, with AppleCare included.

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iPad Pro and Apple Pencil

Apple

Apple finally announced a larger, high-powered version of the iPad.

The iPad Pro is a 12.9-inch touchscreen device powered, and priced, to compete directly with laptops. Powered by a A9X chip, with 1.8 times the performance of the A8X chip it replaces from the iPad Air 2. That puts the iPad at 22 times the performance of the original for CPU tasks.

Starting at $799, ranging up to more than $1,000, the iPad Pro is virtually equivalent to buying a laptop but with an entirely touch (and stylus) focused interface.

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The iPad Pro is designed to work with a stylus -- not a surprise, but a shock given Apple's (or rather co-founder Steve Jobs') prior expressed hatred for the input method, at least on a 3.5-inch device like the original iPhone.

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Apple

The pressure- and tilt-sensitive Apple Pencil is designed to be a secondary input for the iPad, "to allow for a new level of precision with the iPad Pro" according to design chief Jony Ive. Apple said it would not replace touch, but make it possible to make new types of creative content on the device.

Apple said Pencil is designed to work with its own Notes app, but demoed Microsoft apps and Paper by FiftyThree on stage to show off the precision and versatility of its new accessory.

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The bigger iPad makes it possible to type with a full-scale keyboard directly on the screen, and also incorporates the same split-screen software modes possible in iOS 9 as the iPad Air 2. The display is extremely high-resolution, with 5.6 million pixels -- more than the 15-inch Macbook Pro with Retina Display.

The iPad Pro is also built to work with a new 'Smart' keyboard with physical keys, similar to that seen on the Microsoft Surface Pro 3, but featuring the same 'dome' switch as on the recently launched Macbook.

The iPad Pro features a 10-hour battery, has an 8-megapixels camera, features a TouchID fingerprint sensor and a four-speaker audio system.

Apple TV and tvOS

Apple

Apple's long-rumoured assault on TV is finally here. Years after launching the original Apple TV box, Tim Cook said that "our vision for TV is simple and perhaps a little provocative. We believe the future of TV is apps". "We need a new foundation for TV, one that's built on powerful hardware... and a modern OS," he said.

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The new Apple TV has a totally redesigned Apple interface, running on what Apple calls 'tvOS', and comes with its own App Store to make it possible to run full-scale games, video services and other apps on a very big screen.

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We believe the future of TV is apps.Tim Cook, Apple CEO

Some of the developers already working on Apple TV apps include Hulu, Netflix, and games like Disney Infinity, Guitar Hero, Rayman Adventures, fitness apps with Apple Watch integration. Details on UK-specific apps for Sky, BT Sport or the BBC are yet to be revealed.

The new device has full integration with Siri, via a new Bluetooth controller that features a glass touchpad "that makes it both fluid and precise" said Apple's Eddy Cue. The remote has typically few buttons, but has a dedicated option for Siri, Menu and Airplay.

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Key to the experience is that Siri will search all of your apps for content, meaning if you look for a particular actor or type of movie, TV show or documentary it will look through HBO, Netflix, Showtime and other apps at once.

Physically the Apple TV is unexciting, looking largely like two of the older devices stacked on top of each other. But the device is not meant to be looked at directly, with all the focus on the TV screen including with a range of new animated, dynamic screensavers.

Siri will also respond to other queries, including traditional Siri questions about the weather, sports results and other information.

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Apple Watch

A range of new straps and fashionable choices for the Apple Watch were unveiled, built with the help of Hermes. A tan-coloured double-loop leather strap was among the new additions.

Apple also unveiled a rose gold and gold-coloured aluminium watch case, new for the 2015 Holiday season. A (project)RED band was unveiled too, alongside some subtly different leather straps.

In terms of software, Apple had already announced that the Apple Watch would receive a major update in 2015 with watchOS 2.0, which makes it possible to run native apps on the hardware -- allowing users to completely disengage with their phones for different types of exercise tracking and other functions.

WatchOS 2.0, out on 16 September, also adds new watch faces and third party "complications" allowing different information to hit the front of the Watch, on demand.

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At the event Apple said there are already 10,000 apps on the App Store with lots more to come. Among the apps demoed were more complex heart rate tracking via Airstrip.

Tim Cook did not give specifics of the number of Watches sold but said the Watch was already "changing lives". "It's already changing their daily lives and they love using it," Cook said of Apple Watch's first customers. "They're amazed at how Siri on the watch lets them do so much with just their voice."